Control of Manipulation Robots - Hardcover

Miomir Vukobratović

Hardcover

ISBN 10: 038711629X ISBN 13: 9780387116297

Publisher: Springer-Verlag, 1982

Synopsis

This monograph represents the second book of the series "SCI­ ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de­ tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con­ trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con­ trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu­ lator design in thfil broader sense of the word. At this point, the au­ thors would like to present some concepts which were their guidelines in preparing this text.

Edition details

• Publisher: Springer-Verlag
• Publication date: 1982
• Language: English
• ISBN 10: 038711629X
• ISBN 13: 9780387116297
• Binding: Hardcover
• Number of pages: 363